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Issue No. 04 - July/August (2009 vol. 15)
ISSN: 1077-2626
pp: 544-557
Min Tang , Zhejiang University, Hangzhou
Sean Curtis , University of North Carolina, Chapel Hill
Sung-Eui Yoon , Korea Advanced Institute of Science and Technology, DaeJeon
Dinesh Manocha , University of North Carolina, Chapel Hill
We present an interactive algorithm for continuous collision detection between deformable models. We introduce multiple techniques to improve the culling efficiency and the overall performance of continuous collision detection. First, we present a novel formulation for continuous normal cones and use these normal cones to efficiently cull large regions of the mesh as part of self-collision tests. Second, we introduce the concept of “procedural representative triangles” to remove all redundant elementary tests between nonadjacent triangles. Finally, we exploit the mesh connectivity and introduce the concept of “orphan sets” to eliminate redundant elementary tests between adjacent triangle primitives. In practice, we can reduce the number of elementary tests by two orders of magnitude. These culling techniques have been combined with bounding volume hierarchies and can result in one order of magnitude performance improvement as compared to prior collision detection algorithms for deformable models. We highlight the performance of our algorithm on several benchmarks, including cloth simulations, N-body simulations, and breaking objects.
Continuous collision detection, deformable models, continuous normal cones, orphan set, self-collision, bounding volume hierarchies.

S. Yoon, M. Tang, D. Manocha and S. Curtis, "ICCD: Interactive Continuous Collision Detection between Deformable Models Using Connectivity-Based Culling," in IEEE Transactions on Visualization & Computer Graphics, vol. 15, no. , pp. 544-557, 2009.
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